text: /*
   * Software License Agreement (BSD License)
   *
   *  Point Cloud Library (PCL) - www.pointclouds.org
   *  Copyright (c) 2011, Willow Garage, Inc.
   *
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Willow Garage, Inc. nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *
   */
  
  #ifndef PCL_GPU_KINFU_DEVICE_HPP_
  #define PCL_GPU_KINFU_DEVICE_HPP_
  
  //#include <pcl/gpu/utils/device/limits.hpp>
  //#include <pcl/gpu/utils/device/vector_math.hpp>
  #include "utils.hpp" //temporary reimplementing to release kinfu without pcl_gpu_utils
  
  #include "internal.h"
  
  namespace pcl
  {
    namespace device
    {   
      #define INV_DIV 3.051850947599719e-5f
  
      __device__ __forceinline__ void
      pack_tsdf (float tsdf, int weight, short2& value)
      {
        int fixedp = max (-DIVISOR, min (DIVISOR, __float2int_rz (tsdf * DIVISOR)));
        //int fixedp = __float2int_rz(tsdf * DIVISOR);
        value = make_short2 (fixedp, weight);
      }
  
      __device__ __forceinline__ void
      unpack_tsdf (short2 value, float& tsdf, int& weight)
      {
        weight = value.y;
        tsdf = __int2float_rn (value.x) / DIVISOR;   //*/ * INV_DIV;
      }
  
      __device__ __forceinline__ float
      unpack_tsdf (short2 value)
      {
        return static_cast<float>(value.x) / DIVISOR;    //*/ * INV_DIV;
      }
  
  
      __device__ __forceinline__ float3
      operator* (const Mat33& m, const float3& vec)
      {
        return make_float3 (dot (m.data[0], vec), dot (m.data[1], vec), dot (m.data[2], vec));
      }
  
  
      ////////////////////////////////////////////////////////////////////////////////////////
      ///// Prefix Scan utility
  
      enum ScanKind { exclusive, inclusive };
  
      template<ScanKind Kind, class T>
      __device__ __forceinline__ T
      scan_warp ( volatile T *ptr, const unsigned int idx = threadIdx.x )
      {
        const unsigned int lane = idx & 31;       // index of thread in warp (0..31) 
  
        if (lane >=  1) ptr[idx] = ptr[idx -  1] + ptr[idx];
        if (lane >=  2) ptr[idx] = ptr[idx -  2] + ptr[idx];
        if (lane >=  4) ptr[idx] = ptr[idx -  4] + ptr[idx];
        if (lane >=  8) ptr[idx] = ptr[idx -  8] + ptr[idx];
        if (lane >= 16) ptr[idx] = ptr[idx - 16] + ptr[idx];
  
        if (Kind == inclusive)
          return ptr[idx];
        else
          return (lane > 0) ? ptr[idx - 1] : 0;
      }
    }
  }
  
  #endif /* PCL_GPU_KINFU_DEVICE_HPP_ */
  